mirror of
https://github.com/DCC-EX/CommandStation-EX.git
synced 2024-12-23 12:51:24 +01:00
386 lines
14 KiB
C++
386 lines
14 KiB
C++
/*
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* © 2022-2024 Paul M. Antoine
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* © 2021 Mike S
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* © 2021 Fred Decker
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* © 2020 Chris Harlow
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* © 2022,2023 Harald Barth
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* All rights reserved.
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*
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* This file is part of CommandStation-EX
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*
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* This is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* It is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with CommandStation. If not, see <https://www.gnu.org/licenses/>.
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*/
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#ifndef MotorDriver_h
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#define MotorDriver_h
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#include "FSH.h"
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#include "IODevice.h"
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#include "DCCTimer.h"
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#include <wiring_private.h>
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// use powers of two so we can do logical and/or on the track modes in if clauses.
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// For example TRACK_MODE_DC_INV is (TRACK_MODE_DC|TRACK_MODIFIER_INV)
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template<class T> inline T operator~ (T a) { return (T)~(int)a; }
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template<class T> inline T operator| (T a, T b) { return (T)((int)a | (int)b); }
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template<class T> inline T operator& (T a, T b) { return (T)((int)a & (int)b); }
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template<class T> inline T operator^ (T a, T b) { return (T)((int)a ^ (int)b); }
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enum TRACK_MODE : byte {
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// main modes
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TRACK_MODE_NONE = 1, TRACK_MODE_MAIN = 2, TRACK_MODE_PROG = 4,
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TRACK_MODE_DC = 8, TRACK_MODE_EXT = 16,
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// modifiers
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TRACK_MODIFIER_INV = 64, TRACK_MODIFIER_AUTO = 128,
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#ifdef ARDUINO_ARCH_ESP32
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TRACK_MODE_BOOST = 32,
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TRACK_MODE_BOOST_INV = TRACK_MODE_BOOST|TRACK_MODIFIER_INV,
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TRACK_MODE_BOOST_AUTO = TRACK_MODE_BOOST|TRACK_MODIFIER_AUTO,
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#else
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TRACK_MODE_BOOST = 0,
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TRACK_MODE_BOOST_INV = 0,
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TRACK_MODE_BOOST_AUTO = 0,
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#endif
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// derived modes; TRACK_ALL is calles that so it does not match TRACK_MODE_*
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TRACK_ALL = TRACK_MODE_MAIN|TRACK_MODE_PROG|TRACK_MODE_DC|TRACK_MODE_EXT|TRACK_MODE_BOOST,
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TRACK_MODE_MAIN_INV = TRACK_MODE_MAIN|TRACK_MODIFIER_INV,
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TRACK_MODE_MAIN_AUTO = TRACK_MODE_MAIN|TRACK_MODIFIER_AUTO,
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TRACK_MODE_DC_INV = TRACK_MODE_DC|TRACK_MODIFIER_INV,
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TRACK_MODE_DCX = TRACK_MODE_DC_INV // DCX is other name for historical reasons
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};
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#define setHIGH(fastpin) *fastpin.inout |= fastpin.maskHIGH
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#define setLOW(fastpin) *fastpin.inout &= fastpin.maskLOW
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#define isHIGH(fastpin) (*fastpin.inout & fastpin.maskHIGH)
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#define isLOW(fastpin) (!isHIGH(fastpin))
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#define TOKENPASTE(x, y) x ## y
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#define TOKENPASTE2(x, y) TOKENPASTE(x, y)
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#if defined(ARDUINO_AVR_MEGA) || defined(ARDUINO_AVR_MEGA2560)
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#define HAVE_PORTA(X) X
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#define HAVE_PORTB(X) X
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#define HAVE_PORTC(X) X
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#endif
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#if defined(ARDUINO_AVR_UNO)
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#define HAVE_PORTB(X) X
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#endif
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#if defined(ARDUINO_ARCH_SAMD)
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#define PORTA REG_PORT_OUT0
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#define HAVE_PORTA(X) X
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#define PORTB REG_PORT_OUT1
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#define HAVE_PORTB(X) X
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#endif
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#if defined(ARDUINO_ARCH_STM32)
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#define PORTA GPIOA->ODR
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#define HAVE_PORTA(X) X
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#define PORTB GPIOB->ODR
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#define HAVE_PORTB(X) X
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#define PORTC GPIOC->ODR
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#define HAVE_PORTC(X) X
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#define PORTD GPIOD->ODR
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#define HAVE_PORTD(X) X
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#if defined(GPIOE)
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#define PORTE GPIOE->ODR
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#define HAVE_PORTE(X) X
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#endif
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#if defined(GPIOF)
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#define PORTF GPIOF->ODR
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#define HAVE_PORTF(X) X
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#endif
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#if defined(GPIOG)
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#define PORTG GPIOG->ODR
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#define HAVE_PORTG(X) X
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#endif
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#if defined(GPIOH)
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#define PORTH GPIOH->ODR
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#define HAVE_PORTH(X) X
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#endif
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#endif
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// if macros not defined as pass-through we define
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// them here as someting that is valid as a
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// statement and evaluates to false.
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#ifndef HAVE_PORTA
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#define HAVE_PORTA(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
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#endif
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#ifndef HAVE_PORTB
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#define HAVE_PORTB(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
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#endif
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#ifndef HAVE_PORTC
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#define HAVE_PORTC(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
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#endif
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#ifndef HAVE_PORTD
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#define HAVE_PORTD(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
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#endif
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#ifndef HAVE_PORTE
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#define HAVE_PORTE(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
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#endif
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#ifndef HAVE_PORTF
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#define HAVE_PORTF(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
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#endif
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#ifndef HAVE_PORTG
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#define HAVE_PORTG(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
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#endif
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#ifndef HAVE_PORTH
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#define HAVE_PORTH(X) byte TOKENPASTE2(Unique_, __LINE__) __attribute__((unused)) =0
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#endif
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// Virtualised Motor shield 1-track hardware Interface
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#include "Pinpair.h" // for class Pinpair
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#define MAX_PIN 254
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#if defined(__IMXRT1062__) || defined(ARDUINO_ARCH_ESP8266) || defined(ARDUINO_ARCH_ESP32) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32)
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typedef uint32_t portreg_t;
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#else
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typedef uint8_t portreg_t;
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#endif
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struct FASTPIN {
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volatile portreg_t *inout;
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portreg_t maskHIGH;
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portreg_t maskLOW;
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volatile portreg_t *shadowinout;
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};
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// The port registers that are shadowing
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// the real port registers. These are
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// defined in Motordriver.cpp
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extern volatile portreg_t shadowPORTA;
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extern volatile portreg_t shadowPORTB;
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extern volatile portreg_t shadowPORTC;
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extern volatile portreg_t shadowPORTD;
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extern volatile portreg_t shadowPORTE;
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extern volatile portreg_t shadowPORTF;
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extern volatile portreg_t shadowPORTG;
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extern volatile portreg_t shadowPORTH;
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enum class POWERMODE : byte { OFF, ON, OVERLOAD, ALERT };
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class MotorDriver {
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public:
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MotorDriver(int16_t power_pin, byte signal_pin, byte signal_pin2, int16_t brake_pin,
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byte current_pin, float senseFactor, unsigned int tripMilliamps, int16_t fault_pin);
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void setPower( POWERMODE mode);
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POWERMODE getPower() { return powerMode;}
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// as the port registers can be shadowed to get syncronized DCC signals
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// we need to take care of that and we have to turn off interrupts if
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// we setSignal() or setBrake() or setPower() during that time as
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// otherwise the call from interrupt context can undo whatever we do
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// from outside interrupt
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void setBrake( bool on, bool interruptContext=false);
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__attribute__((always_inline)) inline void setSignal( bool high) {
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#ifndef ARDUINO_ARCH_ESP32
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if (invertPhase)
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high = !high;
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#endif
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if (trackPWM) {
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DCCTimer::setPWM(signalPin,high);
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}
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else {
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if (high) {
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setHIGH(fastSignalPin);
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if (dualSignal) setLOW(fastSignalPin2);
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}
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else {
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setLOW(fastSignalPin);
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if (dualSignal) setHIGH(fastSignalPin2);
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}
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}
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};
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inline void enableSignal(bool on) {
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if (on)
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pinMode(signalPin, OUTPUT);
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else
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pinMode(signalPin, INPUT);
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if (signalPin2 != UNUSED_PIN) {
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if (on)
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pinMode(signalPin2, OUTPUT);
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else
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pinMode(signalPin2, INPUT);
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}
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};
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inline Pinpair getSignalPin() { return Pinpair(signalPin,signalPin2); };
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inline int8_t getBrakePinSigned() { return invertBrake ? -brakePin : brakePin; };
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void setDCSignal(byte speedByte, uint8_t frequency=0);
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void throttleInrush(bool on);
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inline void detachDCSignal() {
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#if defined(__arm__)
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pinMode(brakePin, OUTPUT);
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#elif defined(ARDUINO_ARCH_ESP32)
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DCCTimer::DCCEXledcDetachPin(brakePin);
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#else
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setDCSignal(128);
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#endif
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};
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int getCurrentRaw(bool fromISR=false);
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unsigned int raw2mA( int raw);
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unsigned int mA2raw( unsigned int mA);
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inline bool brakeCanPWM() {
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#if defined(ARDUINO_ARCH_ESP32)
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return (brakePin != UNUSED_PIN); // This was just (true) but we probably do need to check for UNUSED_PIN!
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#elif defined(__arm__)
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// On ARM we can use digitalPinHasPWM
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return ((brakePin!=UNUSED_PIN) && (digitalPinHasPWM(brakePin)));
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#elif defined(digitalPinToTimer)
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return ((brakePin!=UNUSED_PIN) && (digitalPinToTimer(brakePin)));
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#else
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return (brakePin<14 && brakePin >1);
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#endif
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}
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inline int getRawCurrentTripValue() {
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return rawCurrentTripValue;
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}
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bool isPWMCapable();
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bool canMeasureCurrent();
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bool trackPWM = false; // this track uses PWM timer to generate the DCC waveform
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bool commonFaultPin = false; // This is a stupid motor shield which has only a common fault pin for both outputs
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inline byte setCommonFaultPin() {
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return commonFaultPin = true;
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}
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inline byte getFaultPin() {
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return faultPin;
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}
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inline void makeProgTrack(bool on) { // let this output know it's a prog track.
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isProgTrack = on;
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}
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void checkPowerOverload(bool useProgLimit, byte trackno);
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inline void setTrackLetter(char c) {
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trackLetter = c;
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};
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// this returns how much time has passed since the last power change. If it
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// was really long ago (approx > 52min) advance counter approx 35 min so that
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// we are at 18 minutes again. Times for 32 bit unsigned long.
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inline unsigned long microsSinceLastPowerChange(POWERMODE mode) {
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unsigned long now = micros();
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unsigned long diff = now - lastPowerChange[(int)mode];
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if (diff > (1UL << (7 *sizeof(unsigned long)))) // 2^(4*7)us = 268.4 seconds
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lastPowerChange[(int)mode] = now - 30000000UL; // 30 seconds ago
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return diff;
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};
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#ifdef ANALOG_READ_INTERRUPT
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bool sampleCurrentFromHW();
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void startCurrentFromHW();
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#endif
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inline void setMode(TRACK_MODE m) {
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trackMode = m;
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invertOutput(trackMode & TRACK_MODIFIER_INV);
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};
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inline void invertOutput() { // toggles output inversion
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invertPhase = !invertPhase;
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invertOutput(invertPhase);
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};
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inline void invertOutput(bool b) { // sets output inverted or not
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if (b)
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invertPhase = 1;
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else
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invertPhase = 0;
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#if defined(ARDUINO_ARCH_ESP32)
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Pinpair p = getSignalPin();
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uint32_t *outreg = (uint32_t *)(GPIO_FUNC0_OUT_SEL_CFG_REG + 4*p.pin);
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if (invertPhase) // set or clear the invert bit in the gpio out register
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*outreg |= ((uint32_t)0x1 << GPIO_FUNC0_OUT_INV_SEL_S);
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else
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*outreg &= ~((uint32_t)0x1 << GPIO_FUNC0_OUT_INV_SEL_S);
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if (p.invpin != UNUSED_PIN) {
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outreg = (uint32_t *)(GPIO_FUNC0_OUT_SEL_CFG_REG + 4*p.invpin);
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if (invertPhase) // clear or set the invert bit in the gpio out register
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*outreg &= ~((uint32_t)0x1 << GPIO_FUNC0_OUT_INV_SEL_S);
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else
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*outreg |= ((uint32_t)0x1 << GPIO_FUNC0_OUT_INV_SEL_S);
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}
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#endif
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};
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inline TRACK_MODE getMode() {
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return trackMode;
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};
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private:
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char trackLetter = '?';
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bool isProgTrack = false; // tells us if this is a prog track
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void getFastPin(const FSH* type,int pin, bool input, FASTPIN & result);
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inline void getFastPin(const FSH* type,int pin, FASTPIN & result) {
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getFastPin(type, pin, 0, result);
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};
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// side effect sets lastCurrent and tripValue
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inline bool checkCurrent(bool useProgLimit) {
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tripValue= useProgLimit?progTripValue:getRawCurrentTripValue();
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lastCurrent = getCurrentRaw();
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if (lastCurrent < 0)
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lastCurrent = -lastCurrent;
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return lastCurrent >= tripValue;
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};
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// side effect sets lastCurrent
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inline bool checkFault() {
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lastCurrent = getCurrentRaw();
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return lastCurrent < 0;
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};
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VPIN powerPin;
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byte signalPin, signalPin2, currentPin, faultPin, brakePin;
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FASTPIN fastSignalPin, fastSignalPin2, fastBrakePin,fastFaultPin;
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bool dualSignal; // true to use signalPin2
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bool invertBrake; // brake pin passed as negative means pin is inverted
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bool invertPower; // power pin passed as negative means pin is inverted
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bool invertFault; // fault pin passed as negative means pin is inverted
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bool invertPhase = 0; // phase of out pin is inverted
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// Raw to milliamp conversion factors avoiding float data types.
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// Milliamps=rawADCreading * sensefactorInternal / senseScale
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//
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// senseScale is chosen as 256 to give enough scale for 2 decimal place
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// raw->mA conversion with an ultra fast optimised integer multiplication
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int senseFactorInternal; // set to senseFactor * senseScale
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static const int senseScale=256;
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int senseOffset;
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unsigned int tripMilliamps;
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int rawCurrentTripValue;
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// current sampling
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POWERMODE powerMode;
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POWERMODE lastPowerMode;
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unsigned long lastPowerChange[4]; // timestamp in microseconds
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unsigned long lastBadSample; // timestamp in microseconds
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// used to sync restore time when common Fault pin detected
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static unsigned long globalOverloadStart; // timestamp in microseconds
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int progTripValue;
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int lastCurrent; //temp value
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int tripValue; //temp value
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#ifdef ANALOG_READ_INTERRUPT
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volatile unsigned long sampleCurrentTimestamp;
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volatile uint16_t sampleCurrent;
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#endif
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int maxmA;
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int tripmA;
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// Times for overload management. Unit: microseconds.
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// Base for wait time until power is turned on again
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static const unsigned long POWER_SAMPLE_OVERLOAD_WAIT = 40000UL;
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// Time after we consider all faults old and forgotten
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static const unsigned long POWER_SAMPLE_ALL_GOOD = 5000000UL;
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// Time after which we consider a ALERT over
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static const unsigned long POWER_SAMPLE_ALERT_GOOD = 20000UL;
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// How long to ignore fault pin if current is under limit
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static const unsigned long POWER_SAMPLE_IGNORE_FAULT_LOW = 100000UL;
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// How long to ignore fault pin if current is higher than limit
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static const unsigned long POWER_SAMPLE_IGNORE_FAULT_HIGH = 5000UL;
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// How long to wait between overcurrent and turning off
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static const unsigned long POWER_SAMPLE_IGNORE_CURRENT = 100000UL;
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// Upper limit for retry period
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static const unsigned long POWER_SAMPLE_RETRY_MAX = 10000000UL;
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// Trip current for programming track, 250mA. Change only if you really
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// need to be non-NMRA-compliant because of decoders that are not either.
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static const int TRIP_CURRENT_PROG=250;
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unsigned long power_sample_overload_wait = POWER_SAMPLE_OVERLOAD_WAIT;
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unsigned int power_good_counter = 0;
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TRACK_MODE trackMode = TRACK_MODE_NONE; // we assume track not assigned at startup
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};
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#endif
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